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Explicit Model Predictive Control

Author(s):

U. Mäder, R. Cagienard, M. Morari
Conference/Journal:

Lecture Notes in Control and Information Sciences (LNCIS), vol. 346, Advanced Strategies in Control Systems with Input and Output Constraints, pp. 237 - 271, edited by Sophie Tarbouriech, Germain Garcia, Adolf H. Glattfelder
Abstract:

In this contribution, explicit model predictive control is applied to the benchmark problems. Emphasis is put on the reduction of complexity both for the off-line and on-line computation. For the pendulum, a control-invariant set is computed first. By using this set in the subsequent optimal control problem, a simple solution can be attained which guarantees invariance of the resulting closed-loop system by construction. The computation of such invariant sets for systems with a partially constrained state-space is discussed. For the reactor, a different approach was chosen. First, a simple model predictive control problem is solved explicitly which results in a low-complexity controller. Invariance is established a posteriori by analysing the explicit control law. Both approaches employ an analysis method to prove stability.

Year:

2007
Type of Publication:

(01)Article
Supervisor:

M. Morari

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% Autogenerated BibTeX entry
@Article { M_dCag:2007:IFA_2656,
    author={U. M{\"a}der and R. Cagienard and M. Morari},
    title={{Explicit Model Predictive Control}},
    journal={Lecture Notes in Control and Information Sciences (LNCIS)},
    year={2007},
    volume={346, Advanced Strategies in Control Systems with Input and
	  Output Constraints},
    number={},
    pages={237 -- 271},
    month=jul,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=2656}
}
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